{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 2.2 迷路内をランダムに探索させる"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 使用するパッケージの宣言\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 360x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "# 初期位置での迷路の様子\n",
    "\n",
    "# 図を描く大きさと、図の変数名を宣言\n",
    "fig = plt.figure(figsize=(5, 5))\n",
    "ax = plt.gca()\n",
    "\n",
    "# 赤い壁を描く\n",
    "plt.plot([1, 1], [0, 1], color='red', linewidth=2)\n",
    "plt.plot([1, 2], [2, 2], color='red', linewidth=2)\n",
    "plt.plot([2, 2], [2, 1], color='red', linewidth=2)\n",
    "plt.plot([2, 3], [1, 1], color='red', linewidth=2)\n",
    "\n",
    "# 状態を示す文字S0～S8を描く\n",
    "plt.text(0.5, 2.5, 'S0', size=14, ha='center')\n",
    "plt.text(1.5, 2.5, 'S1', size=14, ha='center')\n",
    "plt.text(2.5, 2.5, 'S2', size=14, ha='center')\n",
    "plt.text(0.5, 1.5, 'S3', size=14, ha='center')\n",
    "plt.text(1.5, 1.5, 'S4', size=14, ha='center')\n",
    "plt.text(2.5, 1.5, 'S5', size=14, ha='center')\n",
    "plt.text(0.5, 0.5, 'S6', size=14, ha='center')\n",
    "plt.text(1.5, 0.5, 'S7', size=14, ha='center')\n",
    "plt.text(2.5, 0.5, 'S8', size=14, ha='center')\n",
    "plt.text(0.5, 2.3, 'START', ha='center')\n",
    "plt.text(2.5, 0.3, 'GOAL', ha='center')\n",
    "\n",
    "# 描画範囲の設定と目盛りを消す設定\n",
    "ax.set_xlim(0, 3)\n",
    "ax.set_ylim(0, 3)\n",
    "plt.tick_params(axis='both', which='both', bottom='off', top='off',\n",
    "                labelbottom='off', right='off', left='off', labelleft='off')\n",
    "\n",
    "# 現在地S0に緑丸を描画する\n",
    "line, = ax.plot([0.5], [2.5], marker=\"o\", color='g', markersize=60)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 初期の方策を決定するパラメータtheta_0を設定\n",
    "\n",
    "# 行は状態0～7、列は移動方向で↑、→、↓、←を表す\n",
    "theta_0 = np.array([[np.nan, 1, 1, np.nan],  # s0\n",
    "                    [np.nan, 1, np.nan, 1],  # s1\n",
    "                    [np.nan, np.nan, 1, 1],  # s2\n",
    "                    [1, 1, 1, np.nan],  # s3\n",
    "                    [np.nan, np.nan, 1, 1],  # s4\n",
    "                    [1, np.nan, np.nan, np.nan],  # s5\n",
    "                    [1, np.nan, np.nan, np.nan],  # s6\n",
    "                    [1, 1, np.nan, np.nan],  # s7、※s8はゴールなので、方策はなし\n",
    "                    ])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 方策パラメータthetaを行動方策piに変換する関数の定義\n",
    "\n",
    "\n",
    "def simple_convert_into_pi_from_theta(theta):\n",
    "    '''単純に割合を計算する'''\n",
    "\n",
    "    [m, n] = theta.shape  # thetaの行列サイズを取得\n",
    "    pi = np.zeros((m, n))\n",
    "    for i in range(0, m):\n",
    "        pi[i, :] = theta[i, :] / np.nansum(theta[i, :])  # 割合の計算\n",
    "\n",
    "    pi = np.nan_to_num(pi)  # nanを0に変換\n",
    "\n",
    "    return pi\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 初期の方策pi_0を求める\n",
    "pi_0 = simple_convert_into_pi_from_theta(theta_0)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[0.        , 0.5       , 0.5       , 0.        ],\n",
       "       [0.        , 0.5       , 0.        , 0.5       ],\n",
       "       [0.        , 0.        , 0.5       , 0.5       ],\n",
       "       [0.33333333, 0.33333333, 0.33333333, 0.        ],\n",
       "       [0.        , 0.        , 0.5       , 0.5       ],\n",
       "       [1.        , 0.        , 0.        , 0.        ],\n",
       "       [1.        , 0.        , 0.        , 0.        ],\n",
       "       [0.5       , 0.5       , 0.        , 0.        ]])"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 初期の方策pi_0を表示\n",
    "pi_0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 1step移動後の状態sを求める関数を定義\n",
    "\n",
    "\n",
    "def get_next_s(pi, s):\n",
    "    direction = [\"up\", \"right\", \"down\", \"left\"]\n",
    "\n",
    "    next_direction = np.random.choice(direction, p=pi[s, :])\n",
    "    # pi[s,:]の確率に従って、directionが選択される\n",
    "\n",
    "    if next_direction == \"up\":\n",
    "        s_next = s - 3  # 上に移動するときは状態の数字が3小さくなる\n",
    "    elif next_direction == \"right\":\n",
    "        s_next = s + 1  # 右に移動するときは状態の数字が1大きくなる\n",
    "    elif next_direction == \"down\":\n",
    "        s_next = s + 3  # 下に移動するときは状態の数字が3大きくなる\n",
    "    elif next_direction == \"left\":\n",
    "        s_next = s - 1  # 左に移動するときは状態の数字が1小さくなる\n",
    "\n",
    "    return s_next\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 迷路内をエージェントがゴールするまで移動させる関数の定義\n",
    "\n",
    "\n",
    "def goal_maze(pi):\n",
    "    s = 0  # スタート地点\n",
    "    state_history = [0]  # エージェントの移動を記録するリスト\n",
    "\n",
    "    while (1):  # ゴールするまでループ\n",
    "        next_s = get_next_s(pi, s)\n",
    "        state_history.append(next_s)  # 記録リストに次の状態（エージェントの位置）を追加\n",
    "\n",
    "        if next_s == 8:  # ゴール地点なら終了\n",
    "            break\n",
    "        else:\n",
    "            s = next_s\n",
    "\n",
    "    return state_history\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 迷路内をゴールを目指して、移動\n",
    "state_history = goal_maze(pi_0)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[0, 3, 0, 3, 0, 3, 6, 3, 0, 3, 0, 1, 2, 1, 2, 1, 0, 3, 4, 3, 0, 1, 0, 1, 2, 5, 2, 5, 2, 1, 0, 3, 0, 3, 4, 7, 8]\n",
      "迷路を解くのにかかったステップ数は36です\n"
     ]
    }
   ],
   "source": [
    "print(state_history)\n",
    "print(\"迷路を解くのにかかったステップ数は\" + str(len(state_history) - 1) + \"です\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<link rel=\"stylesheet\"\n",
       "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/css/font-awesome.min.css\">\n",
       "<script language=\"javascript\">\n",
       "  function isInternetExplorer() {\n",
       "    ua = navigator.userAgent;\n",
       "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
       "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
       "  }\n",
       "\n",
       "  /* Define the Animation class */\n",
       "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
       "    this.img_id = img_id;\n",
       "    this.slider_id = slider_id;\n",
       "    this.loop_select_id = loop_select_id;\n",
       "    this.interval = interval;\n",
       "    this.current_frame = 0;\n",
       "    this.direction = 0;\n",
       "    this.timer = null;\n",
       "    this.frames = new Array(frames.length);\n",
       "\n",
       "    for (var i=0; i<frames.length; i++)\n",
       "    {\n",
       "     this.frames[i] = new Image();\n",
       "     this.frames[i].src = frames[i];\n",
       "    }\n",
       "    var slider = document.getElementById(this.slider_id);\n",
       "    slider.max = this.frames.length - 1;\n",
       "    if (isInternetExplorer()) {\n",
       "        // switch from oninput to onchange because IE <= 11 does not conform\n",
       "        // with W3C specification. It ignores oninput and onchange behaves\n",
       "        // like oninput. In contrast, Microsoft Edge behaves correctly.\n",
       "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
       "        slider.setAttribute('oninput', null);\n",
       "    }\n",
       "    this.set_frame(this.current_frame);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.get_loop_state = function(){\n",
       "    var button_group = document[this.loop_select_id].state;\n",
       "    for (var i = 0; i < button_group.length; i++) {\n",
       "        var button = button_group[i];\n",
       "        if (button.checked) {\n",
       "            return button.value;\n",
       "        }\n",
       "    }\n",
       "    return undefined;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.set_frame = function(frame){\n",
       "    this.current_frame = frame;\n",
       "    document.getElementById(this.img_id).src =\n",
       "            this.frames[this.current_frame].src;\n",
       "    document.getElementById(this.slider_id).value = this.current_frame;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.next_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.previous_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.first_frame = function()\n",
       "  {\n",
       "    this.set_frame(0);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.last_frame = function()\n",
       "  {\n",
       "    this.set_frame(this.frames.length - 1);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.slower = function()\n",
       "  {\n",
       "    this.interval /= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.faster = function()\n",
       "  {\n",
       "    this.interval *= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_forward = function()\n",
       "  {\n",
       "    this.current_frame += 1;\n",
       "    if(this.current_frame < this.frames.length){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.first_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.last_frame();\n",
       "        this.reverse_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.last_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_reverse = function()\n",
       "  {\n",
       "    this.current_frame -= 1;\n",
       "    if(this.current_frame >= 0){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.last_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.first_frame();\n",
       "        this.play_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.first_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.pause_animation = function()\n",
       "  {\n",
       "    this.direction = 0;\n",
       "    if (this.timer){\n",
       "      clearInterval(this.timer);\n",
       "      this.timer = null;\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.play_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = 1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_forward();\n",
       "    }, this.interval);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.reverse_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = -1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_reverse();\n",
       "    }, this.interval);\n",
       "  }\n",
       "</script>\n",
       "\n",
       "<style>\n",
       ".animation {\n",
       "    display: inline-block;\n",
       "    text-align: center;\n",
       "}\n",
       "input[type=range].anim-slider {\n",
       "    width: 374px;\n",
       "    margin-left: auto;\n",
       "    margin-right: auto;\n",
       "}\n",
       ".anim-buttons {\n",
       "    margin: 8px 0px;\n",
       "}\n",
       ".anim-buttons button {\n",
       "    padding: 0;\n",
       "    width: 36px;\n",
       "}\n",
       ".anim-state label {\n",
       "    margin-right: 8px;\n",
       "}\n",
       ".anim-state input {\n",
       "    margin: 0;\n",
       "    vertical-align: middle;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div class=\"animation\">\n",
       "  <img id=\"_anim_img53acbda487ac4648a95d545ea5ceb804\">\n",
       "  <div class=\"anim-controls\">\n",
       "    <input id=\"_anim_slider53acbda487ac4648a95d545ea5ceb804\" type=\"range\" class=\"anim-slider\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           oninput=\"anim53acbda487ac4648a95d545ea5ceb804.set_frame(parseInt(this.value));\">\n",
       "    <div class=\"anim-buttons\">\n",
       "      <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.slower()\">\n",
       "          <i class=\"fa fa-minus\"></i></button>\n",
       "      <button title=\"First frame\" aria-label=\"First frame\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.first_frame()\">\n",
       "        <i class=\"fa fa-fast-backward\"></i></button>\n",
       "      <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.previous_frame()\">\n",
       "          <i class=\"fa fa-step-backward\"></i></button>\n",
       "      <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.reverse_animation()\">\n",
       "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "      <button title=\"Pause\" aria-label=\"Pause\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.pause_animation()\">\n",
       "          <i class=\"fa fa-pause\"></i></button>\n",
       "      <button title=\"Play\" aria-label=\"Play\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.play_animation()\">\n",
       "          <i class=\"fa fa-play\"></i></button>\n",
       "      <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.next_frame()\">\n",
       "          <i class=\"fa fa-step-forward\"></i></button>\n",
       "      <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.last_frame()\">\n",
       "          <i class=\"fa fa-fast-forward\"></i></button>\n",
       "      <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"anim53acbda487ac4648a95d545ea5ceb804.faster()\">\n",
       "          <i class=\"fa fa-plus\"></i></button>\n",
       "    </div>\n",
       "    <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_select53acbda487ac4648a95d545ea5ceb804\"\n",
       "          class=\"anim-state\">\n",
       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_53acbda487ac4648a95d545ea5ceb804\"\n",
       "             checked>\n",
       "      <label for=\"_anim_radio1_53acbda487ac4648a95d545ea5ceb804\">Once</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_53acbda487ac4648a95d545ea5ceb804\"\n",
       "             >\n",
       "      <label for=\"_anim_radio2_53acbda487ac4648a95d545ea5ceb804\">Loop</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_53acbda487ac4648a95d545ea5ceb804\"\n",
       "             >\n",
       "      <label for=\"_anim_radio3_53acbda487ac4648a95d545ea5ceb804\">Reflect</label>\n",
       "    </form>\n",
       "  </div>\n",
       "</div>\n",
       "\n",
       "\n",
       "<script language=\"javascript\">\n",
       "  /* Instantiate the Animation class. */\n",
       "  /* The IDs given should match those used in the template above. */\n",
       "  (function() {\n",
       "    var img_id = \"_anim_img53acbda487ac4648a95d545ea5ceb804\";\n",
       "    var slider_id = \"_anim_slider53acbda487ac4648a95d545ea5ceb804\";\n",
       "    var loop_select_id = \"_anim_loop_select53acbda487ac4648a95d545ea5ceb804\";\n",
       "    var frames = new Array(37);\n",
       "    \n",
       "  frames[0] = \"\\\n",
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       "AElFTkSuQmCC\\\n",
       "\"\n",
       "\n",
       "\n",
       "    /* set a timeout to make sure all the above elements are created before\n",
       "       the object is initialized. */\n",
       "    setTimeout(function() {\n",
       "        anim53acbda487ac4648a95d545ea5ceb804 = new Animation(frames, img_id, slider_id, 200.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# エージェントの移動の様子を可視化します\n",
    "# 参考URL http://louistiao.me/posts/notebooks/embedding-matplotlib-animations-in-jupyter-notebooks/\n",
    "from matplotlib import animation\n",
    "from IPython.display import HTML\n",
    "\n",
    "\n",
    "def init():\n",
    "    '''背景画像の初期化'''\n",
    "    line.set_data([], [])\n",
    "    return (line,)\n",
    "\n",
    "\n",
    "def animate(i):\n",
    "    '''フレームごとの描画内容'''\n",
    "    state = state_history[i]  # 現在の場所を描く\n",
    "    x = (state % 3) + 0.5  # 状態のx座標は、3で割った余り+0.5\n",
    "    y = 2.5 - int(state / 3)  # y座標は3で割った商を2.5から引く\n",
    "    line.set_data(x, y)\n",
    "    return (line,)\n",
    "\n",
    "\n",
    "#　初期化関数とフレームごとの描画関数を用いて動画を作成する\n",
    "anim = animation.FuncAnimation(fig, animate, init_func=init, frames=len(\n",
    "    state_history), interval=200, repeat=False)\n",
    "\n",
    "HTML(anim.to_jshtml())\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
